Delta Electronics none Manual De Usuario

Chapter 6  Control Modes of Operation|ASDA-AB Series

 

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Revision March 2008, Doc. Name: 2007PDD23000011

When the value of Proportional Position Loop Gain, KPP is too great, the position loop responsiveness 

will be increased and it will result in small phase margin. If this happens, the rotor of motor will oscillate. 

At this time, the users have to decrease the value of KPP until the rotor of motor stop oscillating. When 

there is an external torque command interrupted, over low KPP value will let the motor cannot overcome 

the external strength and fail to meet the requirement of reasonable position track error demand. Adjust 

feed forward gain, PFG (P2-02) to efficiently reduce the dynamic position track error.